Mr Stephens subsequently recanted his accusation after reportedly signing a $125,000 (£78,000) settlement. But he then claimed he did not want to sign the settlement and is now seeking to annul the document.

But fresh reports emerged on Tuesday that Cecil Singleton, a man in his mid-30s, filed a lawsuit against Mr Clash, accusing him of having underage sex with him when he was 15.

In a statement on Tuesday, Sesame Workshop, the non-profit organisation behind the show, said: “Kevin Clash has helped us achieve that mission for 28 years, and none of us, especially Kevin, want anything to divert our attention from our focus on serving as a leading educational organisation.

“Unfortunately, the controversy surrounding Kevin’s personal life has become a distraction that none of us want, and he has concluded that he can no longer be effective in his job and has resigned from Sesame Street. This is a sad day for Sesame Street.”